CN117833737A - Control method, system, equipment and medium of permanent magnet motor long-wire driving system - Google Patents
Control method, system, equipment and medium of permanent magnet motor long-wire driving system Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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Abstract
The invention discloses a control method, a control system, a control device and a control medium for a permanent magnet motor long-wire driving system, which relate to the technical field of power electronics and power transmission and comprise the following steps: collecting state variables of a permanent magnet motor long-line driving system, and constructing a stator current lumped disturbance prediction model; designing a lumped disturbance online estimator based on high-gain feedback; calculating an input voltage reference of a permanent magnet motor stator current controller; and performing inverse Park conversion on the input voltage reference to obtain inverter voltage, inputting the inverter voltage to space vector modulation to generate a pulse signal, and applying the pulse signal to the inverter to control the permanent magnet motor long-line driving system. The invention constructs a stator current lumped disturbance prediction model, designs a lumped disturbance on-line estimator based on high-gain feedback, realizes immunity to system parameter perturbation and external unknown disturbance, and improves the operation robustness and control precision of a permanent magnet motor long-line driving system.
Description
Technical Field
The invention relates to the technical field of power electronics and power transmission, in particular to a control method, a control system, control equipment and a control medium of a permanent magnet motor long-wire driving system.
Background
In recent years, permanent magnet motors have been widely used in the electrical industry because of their small size, high power density, high reliability, and the like. Especially in the fields of petroleum exploitation, coal transportation and the like, industrial equipment taking a permanent magnet motor as a driving core is often far away from an inverter (more than 1 km), and the industrial equipment and the inverter are connected through a long-distance power cable to form a permanent magnet motor long-line driving system. In the long cable transmission process, the voltage reflection phenomenon and the electromagnetic interference problem can be caused due to the fact that the voltage change rate of the output of the inverter is too high. And, with the current wide bandgap semiconductor devices (such as silicon carbide and gallium nitride power devices) becoming more and more widely used, this overvoltage problem is seriously exacerbated. As a result, serious overvoltage, high leakage current, insulation damage and the like of the permanent magnet motor are caused. One mainstream solution at present is to install a three-phase LC sine wave filter at the output side of the inverter. However, the output LC filter and the stator inductance of the permanent magnet motor form an LCL filter structure, which not only increases the control complexity of the system and reduces the robustness, but also causes the problem of stator current resonance of the permanent magnet motor and greatly reduces the control accuracy and stability of the system. Under the background, a control method with simple structure, strong robustness and high stability for a permanent magnet motor long-wire driving system is sought, and the control method has important significance for ensuring the stable operation of the system.
The traditional solution adopts proportional-integral (PI) control, but has numerous design parameters, long setting workload, poor dynamic performance and difficult adaptation to various complex working conditions. The model predictive control method emerging in recent years has the characteristics of simple structure, good dynamic performance, optimal control and the like, and becomes a research hot spot in the field of permanent magnet motor driving. However, model prediction control of the existing permanent magnet motor long-line driving system is used for predicting the future state based on a system nominal model, and is easy to be influenced by parameter disturbance and external unmodeled dynamics. The parameter change of the permanent magnet motor and the external complex and changeable working condition are easy to cause the reduction of the control precision, thereby greatly reducing the steady-state precision, the robustness and the stability of the system operation.
Disclosure of Invention
The invention provides a control method, a control system, a control device and a control medium of a permanent magnet motor long-wire driving system, which solve the problem that model prediction control of the existing permanent magnet motor long-wire driving system is used for predicting the future state based on a system nominal model and is easily influenced by parameter disturbance and external unmodeled dynamics. The parameter change of the permanent magnet motor and the external complex and changeable working condition are easy to cause the reduction of the control precision, thereby greatly reducing the problems of steady-state precision, robustness and stability of the system operation.
The invention provides a control method of a permanent magnet motor long-wire driving system, which comprises a permanent magnet motor, an inverter and an LC filter, and comprises the following steps:
in each control period, collecting state variables of a permanent magnet motor long-line driving system at the moment k and performing Park-Clark conversion on the state variables to obtain state variables under a d-q coordinate system;
based on a state variable in a d-q coordinate system, a third-order Taylor series expansion method is adopted to establish a discrete state space model of the permanent magnet motor long-line driving system in the d-q coordinate system;
constructing a stator current lumped disturbance prediction model according to the discrete state space model; calculating a motor stator current predicted value considering lumped disturbance at the moment k+1 according to the stator current lumped disturbance predicted model;
according to the stator current lumped disturbance prediction model, designing a lumped disturbance online estimator based on high-gain feedback; the motor stator current predicted value considering lumped disturbance at the moment k+1 is input into a lumped disturbance on-line estimator to obtain lumped disturbance estimation;
according tokMotor stator current predictive value sum considering lumped disturbance at +1 momentLumped disturbance estimation, calculating an input voltage reference of a permanent magnet motor stator current controller;
and performing inverse Park conversion on the input voltage reference to obtain inverter voltage under an alpha-beta coordinate system, inputting the inverter voltage into a space vector for modulation to generate a pulse signal, and applying the pulse signal to the inverter to control a permanent magnet motor long-line driving system.
Preferably, the state variables of the permanent magnet motor long-wire driving system comprise three-phase stator currents of the permanent magnet motor, three-phase filter inductance currents of an LC filter and three-phase filter capacitor voltages.
Preferably, the discrete state space model is as follows:
wherein,
，/>，/>
wherein x is k+1 A is the predicted value at time k+1 d 、B d 、D d For the coefficient matrix of the system discretization model approximately calculated by adopting a third-order Taylor series expansion method, x k For the system state variables acquired at time k, u i,k For the inverter voltage vector at time k, T s For discrete sampling time of the system, A, B, D is a system parameter matrix in continuous time domain, i is the order, R f Represents the equivalent series resistance in the filter inductor, L f Representing the filter inductance, C f Represents the filter capacitance, R s Is the stator resistance of the permanent magnet motor, L s Is the stator inductance omega of the permanent magnet motor e For the electrical angular velocity of the permanent magnet motor, ψ f Is the flux linkage of the permanent magnet motor rotor.
Preferably, the stator current lumped disturbance prediction model is as follows:
in the method, in the process of the invention,for the prediction matrix at time k+1 of the stator current, +.>As a coefficient matrix, f k Is the lumped disturbance at time k.
Preferably, the lumped disturbance online estimator is as follows:
wherein,
，/>，/>，/>，/>
in the method, in the process of the invention,for the stator current estimation matrix taking into account lumped disturbances at time k+1 +.>Estimating a matrix for the lumped disturbance at time k +.>Estimating a matrix for the lumped disturbance at time k+1, < >>For the stator current estimation matrix taking into account lumped disturbances at time k +.>For the prediction matrix of stator current k moment, C 1 、C 2 、C 3 L and H are coefficient matrices, i f,k Three-phase filter inductance current at k time, u f,k Three-phase filter capacitor voltage at k moment, l 1 And l 2 For estimator gain, I 2×2 Is a 2-order identity matrix.
Preferably, let theThe input voltage reference is as follows:
in the method, in the process of the invention,for input voltage reference, ">Is the stator current reference of the motor.
Preferably, the rotating speed outer ring of the permanent magnet motor long-wire driving system is adjusted in a proportional integral PI mode.
A control system for a permanent magnet motor long wire drive system, comprising:
the acquisition module is used for acquiring state variables of the permanent magnet motor long-line driving system at the moment k and performing Park-Clark conversion on the state variables in each control period to obtain state variables under a d-q coordinate system;
the first construction module is used for establishing a discrete state space model of the permanent magnet motor long-line driving system under the d-q coordinate system by adopting a third-order Taylor series expansion method based on the state variable under the d-q coordinate system;
the second construction module is used for constructing a stator current lumped disturbance prediction model according to the discrete state space model; calculating a motor stator current predicted value considering lumped disturbance at the moment k+1 according to the stator current lumped disturbance predicted model;
the design module is used for designing a lumped disturbance on-line estimator based on high-gain feedback according to the stator current lumped disturbance prediction model; the motor stator current predicted value considering lumped disturbance at the moment k+1 is input into a lumped disturbance on-line estimator to obtain lumped disturbance estimation;
a calculation module for according tokThe motor stator current predicted value and the total disturbance estimation taking the total disturbance into consideration at the moment +1 calculate the input voltage reference of the permanent magnet motor stator current controller;
and the control module is used for performing inverse Park conversion on the input voltage reference to obtain inverter voltage under an alpha-beta coordinate system, inputting the inverter voltage into space vector modulation to generate a pulse signal, and applying the pulse signal to the inverter to control the permanent magnet motor long-line driving system.
An electronic device comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the control method of the permanent magnet motor long-wire driving system when executing the program.
A computer readable storage medium storing a computer program which when executed by a processor implements the control method of the permanent magnet motor long wire drive system described above.
Compared with the prior art, the invention has the beneficial effects that:
the invention firstly collects the state variable of the permanent magnet motor long-line driving system, establishes a system discretization model based on the state variable, calculates a system discretization model coefficient matrix by adopting a third-order Taylor series expansion approximation, and can reduce the operation load of the system. Then, a stator current lumped disturbance prediction model is constructed, and a lumped disturbance online estimator based on high-gain feedback is designed based on the model, so that immunity to system parameter perturbation and external unknown disturbance can be realized, and the running robustness, stability and control precision of the permanent magnet motor long-line driving system are effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a permanent magnet motor long wire drive system and control method thereof according to the present invention;
FIG. 2 is a schematic diagram of the motor start waveform loaded with 4Nm at a reference speed of 1000 rpm in accordance with the present invention;
fig. 3 shows the stator inductance of the motorL s When 50% of mismatch occurs, a stator current tracking reference schematic diagram of a stator current model prediction control method of lumped disturbance on-line estimation is not included;
fig. 4 shows the stator inductance of the motorL s When 50% of mismatch occurs, the stator current tracking reference schematic diagram of the control method of the invention;
fig. 5 shows the flux linkage of the motor rotorψ f When 10% of mismatch occurs, a stator current tracking reference schematic diagram of a stator current model prediction control method of lumped disturbance on-line estimation is not included;
fig. 6 shows the motor rotor flux linkageψ f When 10% mismatch occurs, the stator current tracking of the control method of the present invention references the schematic.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a control method of a permanent magnet motor long-wire driving system, and particularly relates to a parameter immune prediction current control method of the permanent magnet motor long-wire driving system. The permanent magnet motor long-wire driving system is shown in fig. 1, wherein the direct current bus voltage V dc The alternating voltage is converted into alternating voltage through a voltage source inverter and then is connected with the permanent magnet motor through an LC filter. Sequentially sampling three-phase stator current i of permanent magnet motor s,abc Three-phase filter capacitor voltage u of LC filter f,abc Three-phase filter inductance current i f,abc And rotor electrical angle theta e . In which the rotor electrical angle theta e For the park-clamp transform.
Each phase filtering inductance L of LC filter f The power supply is connected with the output side of the inverter in series; each phase filter capacitor C f Is connected with the filter inductance L f The output sides of the two are connected together, and the other ends are connected together to form a Y-shaped connection mode.
The rotating speed outer ring is still regulated according to the traditional proportional integral PI mode, and the current inner ring adopts the parameter immune prediction current control method provided by the invention.
In the figure, V dc Represents the voltage of a direct current bus, R f Represents the equivalent series resistance in the filter inductor, L f Representing the filter inductance, C f Representing the filter capacitance, i s,abc Representing three-phase stator current, u f,abc Representing three-phase filter capacitor voltage, i f,abc Representing three-phase filtering inductance current, theta being the mechanical angle of the motor rotor, P N Represents the pole pair number, theta of the motor e For the electrical angle of the rotor,represents the reference rotational speed omega r Indicating the actual rotational speed of the motor, +/->For motor d-axis reference current, < >>For the q-axis reference current of the motor, d/dt represents a differential element, i s,k 、u f,k 、i f,k Respectively represents the stator current, the filter capacitor voltage and the filter inductor current under the d-q coordinate system at the k moment,representing the control input voltage reference in d-q coordinate system,/->、/>Representing the components of the control input voltage reference on the alpha-beta axis, respectively.
The invention discloses a control method of a permanent magnet motor long-wire driving system, which specifically comprises the following steps:
the first step: and collecting state variables of a permanent magnet motor long-line driving system at the moment k and performing Park-Clark conversion on the state variables to obtain the state variables under a d-q coordinate system.
And in each control period, collecting the state variable of the permanent magnet motor. The state variable comprises ABC three-phase stator current i of permanent magnet motor s =[i sa i sb i sc ] T (subscripts a, b, c respectively represent each phase component of ABC three phases), three-phase filter inductance current i of LC filter f =[i fa i fb i fc ] T Three-phase filter capacitor voltage u of LC filter f =[u fa u fb u fc ] T And permanent magnet motor rotor electrical angle theta e . After data acquisition, performing Park-Clark conversion on the three-phase stator current, the three-phase filter inductance current and the three-phase filter capacitance voltage, and converting the three-phase stator current, the three-phase filter inductance current and the three-phase filter capacitance voltage into corresponding state variables under a d-q coordinate system: i.e s,k =[i sd,k i sq,k ] T ，i f,k =[i fd,k i fq,k ] T ，u f,k =[u fd,k u fq,k ] T 。
And a second step of: based on state variables in a d-q coordinate system, a third-order Taylor series expansion method is adopted to establish a discrete state space model of the permanent magnet motor long-line driving system in the d-q coordinate system.
Based on the state variable information acquired in the first step, a discrete state space model x of a permanent magnet motor long-line driving system under a d-q coordinate system is established k+1 ：
Wherein, subscripts "k" and "k+1" respectively represent k and k+1 sampling moments, x k =[i fd,k i fq,k u fd,k u fq,k i sd,k i sq,k ] T Representing the system state variable, x, acquired at time k k+1 =[i fd,k+1 i fq,k+1 u fd,k+1 u fq,k+1 i sd,k+1 i sq,k+1 ] T As predicted value at time k+1, u i,k =[u id,k u iq,k ] T Inverter voltage vector, A, representing time k d 、B d 、D d The system discretization model coefficient matrix approximately calculated by adopting a third-order Taylor series expansion method comprises the following specific calculation formula:
，/>，/>
wherein T is s For discrete sampling time of the system, the matrix A, B, D is a system parameter matrix in a continuous time domain, and parameters in each matrix represent:L f representing the filter inductance, C f Represents the filter capacitance, R f Equivalent series resistance representing filter inductance, R s Is the stator resistance of the permanent magnet motor, L s Is the stator inductance omega of the permanent magnet motor e For the electrical angular velocity of the permanent magnet motor, ψ f Is the flux linkage of the permanent magnet motor rotor.
And a third step of: constructing a stator current lumped disturbance prediction model of the permanent magnet motor based on system parameter perturbation and external unknown dynamics according to the discrete state space model; and calculating a motor stator current predicted value considering lumped disturbance at the moment k+1 according to the stator current lumped disturbance predicted model.
According to the discrete state space model x established in the second step k+1 Construction takes into account the filter inductance L f Filter capacitor C f Permanent magnet motor stator current lumped disturbance prediction model i with equal lumped disturbance s d ,k+1 ：
Wherein i is s d ,k+1 =[i sd d ,k+1 i sq d ,k+1 ] T To consider the predictive matrix of the lumped disturbance at stator current k+1, f k =[f d,k f q,k ] T As a lumped disturbance at time k +1,is a coefficient matrix.
The collected state variable of the permanent magnet motor long-line driving system at the moment k is input into a permanent magnet motor stator current lumped disturbance prediction model, and a motor stator current predicted value i considering lumped disturbance at the moment k+1 is calculated s d ,k+1 。
Fourth step: according to the stator current lumped disturbance prediction model, designing a lumped disturbance online estimator based on high-gain feedback; and (3) inputting the motor stator current predicted value considering the lumped disturbance at the moment k+1 into a lumped disturbance online estimator to obtain lumped disturbance estimation.
Constructing a permanent magnet motor stator current lumped disturbance prediction model i considering lumped disturbance according to the third step s d ,k+1 The following lumped disturbance on-line estimator is designed:
in the method, in the process of the invention,for the stator current estimation matrix taking into account lumped disturbances at time k +.>For the stator current estimation matrix taking into account lumped disturbances at time k+1 +.>Estimating a matrix for the lumped disturbance at time k +.>For the lumped disturbance estimation matrix at time k+1, matrix +.>，/>，/>，，/>Is a coefficient matrix, l 1 And l 2 For estimator gain, I 2×2 Is a 2-order identity matrix.
And (3) inputting the motor stator current predicted value considering the lumped disturbance at the moment k+1 into a lumped disturbance online estimator to obtain lumped disturbance estimation.
Fifth step: according tokAnd calculating the input voltage reference of the permanent magnet motor stator current controller according to the motor stator current predicted value considering lumped disturbance and the lumped disturbance estimation at the moment +1.
Based on the lumped disturbance estimation in the fourth step, according to the minimum beat tracking principle, in order to track the set reference value in one sampling period, i.e. let the predicted value of the k+1 step be equal to the reference value, letThe input voltage reference of the stator current controller of the permanent magnet motor can be calculated>：
In the method, in the process of the invention,input voltage reference matrix representing permanent magnet motor stator current controller under d-q coordinate system, +.>Representing the stator current reference matrix of the motor in the d-q coordinate system.
Sixth step: and performing inverse Park conversion on the input voltage reference to obtain inverter voltage under an alpha-beta coordinate system, inputting the inverter voltage into space vector modulation SVPWM to generate a pulse signal, and applying the pulse signal to the inverter to realize control of a permanent magnet motor long-line driving system.
Performing inverse Park conversion on the input voltage reference of the stator current controller under the d-q coordinate system calculated in the fifth step to obtain the control input voltage reference under the static alpha-beta coordinate systemAnd->. To be found alpha-beta coordinate systemThe input voltage reference of the lower stator current controller generates a pulse signal through space vector modulation and acts on an inverter to realize the control of a permanent magnet motor long-line driving system.
Based on the same conception, the invention provides a control system of a permanent magnet motor long-wire driving system, which comprises an acquisition module, a first construction module, a second construction module, a calculation module and a control module.
The acquisition module is used for acquiring state variables of the permanent magnet motor long-line driving system at the moment k and performing Park-Clark conversion on the state variables in each control period to obtain the state variables under the d-q coordinate system.
The first construction module is used for establishing a discrete state space model of the permanent magnet motor long-line driving system under the d-q coordinate system by adopting a third-order Taylor series expansion method based on the state variable under the d-q coordinate system.
The second construction module is used for constructing a stator current lumped disturbance prediction model according to the discrete state space model; and calculating a motor stator current predicted value considering lumped disturbance at the moment k+1 according to the stator current lumped disturbance predicted model.
The design module is used for designing a lumped disturbance on-line estimator based on high-gain feedback according to the stator current lumped disturbance prediction model; and (3) inputting the motor stator current predicted value considering the lumped disturbance at the moment k+1 into a lumped disturbance online estimator to obtain lumped disturbance estimation.
The calculation module is used for calculating the input voltage reference of the permanent magnet motor stator current controller based on the minimum beat tracking principle according to the motor stator current predicted value considering lumped disturbance and the lumped disturbance estimation at the moment k+1.
The control module is used for performing inverse Park conversion on the input voltage reference to obtain inverter voltage under an alpha-beta coordinate system, inputting the inverter voltage into the space vector for modulation to generate a pulse signal, and enabling the pulse signal to act on the inverter to control the permanent magnet motor long-line driving system.
Based on the same conception, the invention also provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the control method of the permanent magnet motor long-wire driving system is realized when the processor executes the program.
Based on the same conception, the invention also provides a computer readable storage medium, wherein the storage medium stores a computer program, and the control method of the permanent magnet motor long-wire driving system is realized when the computer program is executed by a processor.
Examples
In order to test the method for controlling the immune prediction current of the parameters of the permanent magnet motor long-wire driving system, the method provided by the invention is applied to the permanent magnet motor long-wire driving system, and the system parameters are given in table 1.
Table 1 system parameters
Fig. 2 is a motor start waveform at a rotational speed reference of 1000rmp and a load torque setting of 4n·m, with the motor reaching steady state after 0.08 s. The motor rotating speed, the stator current of the three-phase permanent magnet motor and the filter capacitor voltage are sequentially arranged from top to bottom. As can be seen from fig. 2, the method provided by the invention can effectively inhibit the system resonance phenomenon and ensure the stable operation of the permanent magnet motor.
Fig. 3 and 4 are respectively the motor stator inductancesL s When 50% of mismatch occurs, the stator current model prediction control method which does not comprise lumped disturbance on-line estimation and the stator current tracking reference comparison waveform chart of the method provided by the invention are not included. Fig. 5 and 6 are motor rotor flux linkages, respectivelyψ f When 10% of mismatch occurs, the stator current model prediction control method which does not comprise lumped disturbance on-line estimation and the stator current tracking reference comparison waveform chart of the method provided by the invention are not included. As can be seen from FIGS. 3, 4, 5 and 6, the method provided by the invention can realize the immunization to the perturbation of system parameters and the unknown disturbance of the outside due to the inclusion of the lumped disturbance on-line estimator based on high gain feedback, compared with the stator current model predictive control method without the lumped disturbance estimator, the method provided by the invention is adopted when the parameter mismatch occurs, and d-q sitting is realizedThe stator current under the standard system can track the stator current reference more accurately, and can effectively reduce stator current ripple. Therefore, the method provided by the invention can effectively improve the operation robustness, stability and control precision of the permanent magnet motor long-wire driving system.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A control method of a permanent magnet motor long-wire driving system, characterized in that the permanent magnet motor long-wire driving system comprises a permanent magnet motor, an inverter and an LC filter, the control method comprising the steps of:
in each control period, collecting state variables of a permanent magnet motor long-line driving system at the moment k and performing Park-Clark conversion on the state variables to obtain state variables under a d-q coordinate system;
based on a state variable in a d-q coordinate system, a third-order Taylor series expansion method is adopted to establish a discrete state space model of the permanent magnet motor long-line driving system in the d-q coordinate system;
constructing a stator current lumped disturbance prediction model according to the discrete state space model; calculating a motor stator current predicted value considering lumped disturbance at the moment k+1 according to the stator current lumped disturbance predicted model;
according to the stator current lumped disturbance prediction model, designing a lumped disturbance online estimator based on high-gain feedback; the motor stator current predicted value considering lumped disturbance at the moment k+1 is input into a lumped disturbance on-line estimator to obtain lumped disturbance estimation;
calculating an input voltage reference of a permanent magnet motor stator current controller according to the motor stator current predicted value considering lumped disturbance and the lumped disturbance estimation at the moment k+1;
and performing inverse Park conversion on the input voltage reference to obtain inverter voltage under an alpha-beta coordinate system, inputting the inverter voltage into a space vector for modulation to generate a pulse signal, and applying the pulse signal to the inverter to control a permanent magnet motor long-line driving system.
2. The method of claim 1, wherein the state variables of the permanent magnet motor long wire drive system include three-phase stator current of the permanent magnet motor, three-phase filter inductor current of the LC filter, and three-phase filter capacitor voltage.
3. A method of controlling a permanent magnet machine long wire drive system according to claim 1, wherein the discrete state space model is as follows:
wherein,
，/>，/>
wherein x is k+1 A is the predicted value at time k+1 d 、B d 、D d For the coefficient matrix of the system discretization model approximately calculated by adopting a third-order Taylor series expansion method, x k For the system state variables acquired at time k, u i,k For the inverter voltage vector at time k, T s For discrete sampling time of the system, A, B, D is a system parameter matrix in continuous time domain, i is the order, R f Represents the equivalent series resistance in the filter inductor, L f Representing the filter inductance, C f Represents the filter capacitance, R s Is the stator resistance of the permanent magnet motor, L s Is the stator inductance omega of the permanent magnet motor e For the electrical angular velocity of the permanent magnet motor, ψ f Is the flux linkage of the permanent magnet motor rotor.
4. A control method of a permanent magnet motor long-wire drive system according to claim 3, wherein the stator current lumped disturbance prediction model is as follows:
in the method, in the process of the invention,for the prediction matrix at time k+1 of the stator current, +.>As a coefficient matrix, f k Is the lumped disturbance at time k.
5. The method of claim 4, wherein the lumped disturbance online estimator is as follows:
wherein,
，/>，/>，/>，/>
in the method, in the process of the invention,for the stator current estimation matrix taking into account lumped disturbances at time k+1 +.>Estimating a matrix for the lumped disturbance at time k +.>Estimating a matrix for the lumped disturbance at time k+1, < >>For the stator current estimation matrix taking into account lumped disturbances at time k +.>For the prediction matrix of stator current k moment, C 1 、C 2 、C 3 L and H are coefficient matrices, i f,k Three-phase filter inductance current at k time, u f,k Three-phase filter capacitor voltage at k moment, l 1 And l 2 For estimator gain, I 2×2 Is a 2-order identity matrix.
6. A control method of a permanent magnet motor long-wire driving system according to claim 5, wherein i is s d ,k+1 =i s * The input voltage reference is as follows:
wherein u is i * For input voltage reference, i s * Is the stator current reference of the motor.
7. The control method of a permanent magnet motor long-wire driving system according to claim 1, wherein a rotating speed outer ring of the permanent magnet motor long-wire driving system is adjusted in a proportional integral PI mode.
8. A control system for a permanent magnet motor long wire drive system, comprising:
the acquisition module is used for acquiring state variables of the permanent magnet motor long-line driving system at the moment k and performing Park-Clark conversion on the state variables in each control period to obtain state variables under a d-q coordinate system;
the first construction module is used for establishing a discrete state space model of the permanent magnet motor long-line driving system under the d-q coordinate system by adopting a third-order Taylor series expansion method based on the state variable under the d-q coordinate system;
the second construction module is used for constructing a stator current lumped disturbance prediction model according to the discrete state space model; calculating a motor stator current predicted value considering lumped disturbance at the moment k+1 according to the stator current lumped disturbance predicted model;
the design module is used for designing a lumped disturbance on-line estimator based on high-gain feedback according to the stator current lumped disturbance prediction model; the motor stator current predicted value considering lumped disturbance at the moment k+1 is input into a lumped disturbance on-line estimator to obtain lumped disturbance estimation;
the calculation module is used for calculating the input voltage reference of the permanent magnet motor stator current controller according to the motor stator current predicted value considering lumped disturbance and the lumped disturbance estimation at the moment k+1;
and the control module is used for performing inverse Park conversion on the input voltage reference to obtain inverter voltage under an alpha-beta coordinate system, inputting the inverter voltage into space vector modulation to generate a pulse signal, and applying the pulse signal to the inverter to control the permanent magnet motor long-line driving system.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a method of controlling a permanent magnet motor long wire drive system according to any one of the preceding claims 1-7 when executing the program.
10. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements a method of controlling a permanent magnet motor long-wire drive system according to any one of the preceding claims 1-7.
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